The invention relates to a transverse control method for a four-wheel steering vehicle. The transverse control method specifically comprises the following steps that 1, a four-wheel steering dynamic model under a Frenet coordinate system is established; step 2, solving a compensation amount delta delta f according to the four-wheel steering dynamical model under the Frenet coordinate system, and calculating through the four-wheel steering dynamical model under the Frenet coordinate system to obtain a steering angle control amount u; and 3, summing the corner control quantity u and the compensation quantity delta delta f to obtain a corner output quantity. When a four-wheel steering vehicle dynamics model is applied to transverse control under a Frenet coordinate system, a feedforward control method is adopted to solve delta delta f, and the delta delta f is combined with a control quantity u of the four-wheel steering dynamics model under the Frenet coordinate system to serve as a final rotation angle output quantity, so that the problem that a steady-state error exists in a transverse error is solved.
本发明涉及一种四轮转向车辆横向控制方法,具体包括以下步骤:步骤一:建立Frenet坐标系下的四轮转向动力学模型;步骤二:根据所述Frenet坐标系下的四轮转向动力学模型求解补偿量Δδf和通过所述Frenet坐标系下的四轮转向动力学模型计算得到转角控制量u;步骤三:对转角控制量u和补偿量Δδf进行求和得到转角输出量。针对在Frenet坐标系下应用四轮转向车辆动力学模型进行横向控制时,采用前馈控制方法求解得到Δδf,结合Frenet坐标系下的四轮转向动力学模型自身的控制量u后作为最终转角输出量,从而解决了横向误差存在稳态误差的问题。
Four-wheel steering vehicle transverse control method
一种四轮转向车辆横向控制方法
2024-03-12
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
Four-wheel independent steering control method for horizontal four-steering-wheel chassis vehicle
European Patent Office | 2023
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